Platform motion disturbances decoupling by means of inertial sensors for a motion stabilized gimbal

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Tezin Türü: Yüksek Lisans

Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Mühendislik Fakültesi, Makina Mühendisliği Bölümü, Türkiye

Tezin Onay Tarihi: 2015

Öğrenci: DENİZ MUTLU

Eş Danışman: RAİF TUNA BALKAN, BÜLENT EMRE PLATİN

Özet:

In this study, a method is developed to overcome platform motion based disturbances resulting from kinematic and dynamic interactions between platform and gimbal system. The method is confined to using underlying non-linear relations in order to increase performance of the system in nearly all of its motion envelope. Sensor requirements and measurements methods are also stated for the developed method. In order to simulate real system conditions, an identification procedure is applied on the system whose outputs are later integrated into system mode. After development of the proposed disturbance rejection algorithm, wide range of simulations are performed to assess its performance with realistic data obtained from an intended base vehicle. Remarkable increases in disturbance rejection in different scenarios are obtained through simulations which indicates promising results for real life application.